95 lines
3.2 KiB
C#
95 lines
3.2 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using System.Linq;
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using Cysharp.Threading.Tasks;
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using UnityEngine.Jobs;
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using UnityEngine.Pool;
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namespace BITKit.Sensors
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{
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public class RangeSensor : Sensor
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{
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[Header(Constant.Header.Settings)]
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public float radius;
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public int fov;
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public bool requireSight;
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[Header(Constant.Header.Settings)]
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public LayerMask blockLayer;
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[Header(Constant.Header.InternalVariables)]
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private FrameUpdate frameUpdater;
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private readonly Collider[] colliders = new Collider[32];
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private RaycastHit[] hits;
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public override IEnumerable<Transform> Get() => detected;
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private void Update()
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{
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if (autoUpdate)
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{
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Execute().Forget();
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}
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}
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public override UniTask Execute()
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{
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if (frameUpdater.Allow is false) return UniTask.CompletedTask;
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var location = new Location(transform);
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var length = Physics.OverlapSphereNonAlloc(location, radius, colliders, detectLayer);
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var list = new List<Transform>();
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list.AddRange(from x in colliders.Take(length) where IsValid(x) select x.transform);
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detected = list.ToArray();
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list.Clear();
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// detected = colliders
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// .Take(length)
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// .Select(x => x.transform)
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// .ToArray();
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return UniTask.CompletedTask;
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}
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public override bool IsValid(Collider _collider)
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{
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switch (_collider)
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{
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case var _ when ignoreColliders.Contains(_collider):
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return false;
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case var _ when fov > 0 && CheckFov(ref _collider) is false:
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case var _ when requireSight && CheckSight(ref _collider) is false:
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return false;
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default:
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return true;
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}
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}
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public override float GetDistance() => radius;
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private bool CheckFov(ref Collider _collider)
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{
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var _dir = _collider.transform.position - transform.position;
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if (_dir.sqrMagnitude <= 0) return false;
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var dir = Quaternion.LookRotation(_dir);
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return Vector3.Dot(transform.forward, _dir) > 0 && fov > Quaternion.Angle(transform.rotation, dir);
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}
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private bool CheckSight(ref Collider _collider)
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{
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if (!requireSight) return false;
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var transform1 = _collider.transform;
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var position = transform1.position;
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var location = new Location(transform);
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var length = Physics.RaycastNonAlloc(
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location.position,
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position - location,
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hits,
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Vector3.Distance(location, position),
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blockLayer
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);
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if (length > 0)
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{
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if (hits[0].collider == _collider)
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{
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return true;
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}
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}
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else return true;
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return false;
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}
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}
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} |